ATE213335T1 - METHOD FOR DETERMINING THE POSITION OF AN AUTOMATICALLY DRIVEN VEHICLE - Google Patents

METHOD FOR DETERMINING THE POSITION OF AN AUTOMATICALLY DRIVEN VEHICLE

Info

Publication number
ATE213335T1
ATE213335T1 AT98950567T AT98950567T ATE213335T1 AT E213335 T1 ATE213335 T1 AT E213335T1 AT 98950567 T AT98950567 T AT 98950567T AT 98950567 T AT98950567 T AT 98950567T AT E213335 T1 ATE213335 T1 AT E213335T1
Authority
AT
Austria
Prior art keywords
vehicle
reflectors
angle
angle values
determined
Prior art date
Application number
AT98950567T
Other languages
German (de)
Inventor
Fredrik Holmquist
Original Assignee
Apogeum Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Apogeum Ab filed Critical Apogeum Ab
Application granted granted Critical
Publication of ATE213335T1 publication Critical patent/ATE213335T1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/74—Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Structural Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radio Relay Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Steering Controls (AREA)
  • Seats For Vehicles (AREA)

Abstract

A method for position finding of an automated guided vehicle using detection of angle positions for anonymous reflectors (R1-R11). The anonymous reflectors are arranged in positions in a limited transport area, and the positions are stored. A concentrated beam (B) is emitted from a vehicle (10) and is made to pass over a search sector. The angle position in relation to a reference direction (D) of the vehicle (10) in reflective objects is continually detected during the sweep of the beam over the search sector, and corresponding angle values are determined. Initially the following measures are taken for association of the angle positions to physical reflectors, and for determination of the position of the vehicle (10); i) at least three angle values with a suitable distribution over the search sector is selected, ii) the angle values are associated to reflectors and a position is determined for the vehicle on the basis of the known position of the assumed reflectors, iii) if the vehicle position determined in this way is within a certain part of the transport area the other angle values are associated to reflectors, iv) for each angle value, existing deviation is determined between detected angle values and angle values expected between the vehicle position and known reflectors, v) the measures taken are repeated for each possible combination of selected angle values. A combination of associations with the best possible agreement on the vehicle position is selected, whereby the position and direction of the vehicle is determined.
AT98950567T 1997-10-17 1998-10-13 METHOD FOR DETERMINING THE POSITION OF AN AUTOMATICALLY DRIVEN VEHICLE ATE213335T1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9703779A SE511504C2 (en) 1997-10-17 1997-10-17 Method and apparatus for associating anonymous reflectors to detected angular positions
PCT/SE1998/001840 WO1999021027A1 (en) 1997-10-17 1998-10-13 Method for determining the position of an automated guided vehicle

Publications (1)

Publication Number Publication Date
ATE213335T1 true ATE213335T1 (en) 2002-02-15

Family

ID=20408640

Family Applications (2)

Application Number Title Priority Date Filing Date
AT98950566T ATE235690T1 (en) 1997-10-17 1998-10-13 METHOD AND DEVICE FOR ASSIGNING ANONYMOUS REFLECTORS TO THE DETECTED ANGLE POSITION
AT98950567T ATE213335T1 (en) 1997-10-17 1998-10-13 METHOD FOR DETERMINING THE POSITION OF AN AUTOMATICALLY DRIVEN VEHICLE

Family Applications Before (1)

Application Number Title Priority Date Filing Date
AT98950566T ATE235690T1 (en) 1997-10-17 1998-10-13 METHOD AND DEVICE FOR ASSIGNING ANONYMOUS REFLECTORS TO THE DETECTED ANGLE POSITION

Country Status (12)

Country Link
US (2) US6308118B1 (en)
EP (2) EP1023610B1 (en)
JP (2) JP2001521212A (en)
KR (2) KR100578680B1 (en)
CN (2) CN1184489C (en)
AT (2) ATE235690T1 (en)
AU (2) AU752054B2 (en)
CA (2) CA2307206C (en)
DE (2) DE69812673T2 (en)
NO (2) NO20001942L (en)
SE (2) SE511504C2 (en)
WO (2) WO1999021027A1 (en)

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Also Published As

Publication number Publication date
NO20001978D0 (en) 2000-04-14
CA2305600A1 (en) 1999-04-29
JP2001521212A (en) 2001-11-06
DE69812673D1 (en) 2003-04-30
WO1999021026A1 (en) 1999-04-29
AU9657398A (en) 1999-05-10
CA2305600C (en) 2005-03-08
JP2001521211A (en) 2001-11-06
AU755485B2 (en) 2002-12-12
SE9703779D0 (en) 1997-10-17
ATE235690T1 (en) 2003-04-15
NO20001942L (en) 2000-05-30
DE69803868D1 (en) 2002-03-21
AU752054B2 (en) 2002-09-05
WO1999021027A1 (en) 1999-04-29
CA2307206C (en) 2005-09-20
CA2307206A1 (en) 1999-04-29
NO20001978L (en) 2000-04-14
KR100578680B1 (en) 2006-05-12
KR20010031182A (en) 2001-04-16
EP1023611A1 (en) 2000-08-02
CN1184490C (en) 2005-01-12
EP1023611B1 (en) 2002-02-13
EP1023610A1 (en) 2000-08-02
AU9657498A (en) 1999-05-10
CN1184489C (en) 2005-01-12
US6308118B1 (en) 2001-10-23
CN1276873A (en) 2000-12-13
CN1276874A (en) 2000-12-13
SE1023610T5 (en) 2003-09-23
DE69803868T2 (en) 2002-11-28
US6259979B1 (en) 2001-07-10
NO20001942D0 (en) 2000-04-13
SE1023610T3 (en) 2003-06-10
EP1023610B1 (en) 2003-03-26
SE9703779L (en) 1999-04-18
DE69812673T2 (en) 2004-02-19
KR100549624B1 (en) 2006-02-08
SE511504C2 (en) 1999-10-11
KR20010024528A (en) 2001-03-26

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